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fix in URDF loading: apply visual transform locally, not after compensating for inertia transform.

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add option in COLLADA loading to specify client up axis (so that if client=Z and COLLADA =Z, upAxisTransform is identity,
while if client=Y and COLLADA=Y, upAxisTransform is identity etc)
This commit is contained in:
Erwin Coumans
2015-02-13 16:18:16 -08:00
parent a65d8fc209
commit d8b08eaf2a
4 changed files with 86 additions and 43 deletions
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3
Demos3/ImportColladaDemo/LoadMeshFromCollada.h
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@@ -29,7 +29,8 @@ void LoadMeshFromCollada(const char* relativeFileName,
btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes,
btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,
btTransform& upAxisTrans,
float& unitMeterScaling);
float& unitMeterScaling,
int clientUpAxis);
//#define COMPARE_WITH_ASSIMP
#ifdef COMPARE_WITH_ASSIMP